Nice quick work.
I'm curious though - does doing something like this actually have the kind of accuracy you are after, or is it just adding a different offset? (maybe it is better, I have no idea whatsoever)
Currently accuracy is quite bad - that sudo hcitool sets up repeated broadcast which I change every second, so accuracy is about 1 second here.
To get better accuracy I'd need to learn how to send broadcast at once without delay. BLE seems to have inherent random delay of around ~10 ms so e.g. 1 ms accuracy is not possible, but I think that accuracy of <100ms should be possible.
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